Rob Lowe is speaking out on live television about his legal woes with his family’s former nanny, Jessica Gibson. Entertainment Tonight sat down with the actor on the set of his show, Brothers & Sisters, in what is Rob’s first TV interview since news of the scandal broke.

Of the allegations that he sexually harassed Gibson, Lowe says, "We live in a time where anybody can say anything about anybody. You want to defend your family! Now it’s in the court system and potentially a criminal investigation."

He goes on to say that he and his family have received an outpouring of support and well wishes. "The support has been fantastic and really, really humbling," Lowe says.

When asked how his family is dealing with the allegations, the actor says, "The whole thing is very sad. But the family is great, the boys are great. They are affected by it, but they’re moving through it. My boys understand that being a celebrity sometimes exposes you to some really bad stuff, and then sometimes you get a VIP tour of Disneyland."

For more of this exclusive interview tune in to ET tomorrow, April 24!